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However, when you die, you can "Choose Another Destiny," which will often, if not always, allow you to play an Adventurer of your dynasty. Your non-heirs may also sometimes set off as Adventurers via event during your lifetime, which will present you the option of switching to that character instantly.
TL;DR: Kill yourself
Make sure, that you don't have any kingdom titles.
Let a claimant faction win a war against you so lose the empire title and revert to being a duke.
Make the county with the adventurer culture your capital, convert to the local culture or hybridise a new one.
Abdicate and hit the road.
Installing your son as the emperor is another matter though.